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Income Taxes - Components of Provision (Benefit) for Income Taxes (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Current tax expense (benefit):      
Federal $ 16.4 $ 20.7 $ 17.8
Foreign 1.4 0.4 (0.1)
State and local 5.1 6.0 5.7
Total current tax expense 22.9 27.1 23.4
Deferred tax expense (benefit):      
Federal 2.7 2.8 0.6
Foreign 3.1 2.2 (6.5)
State and local (0.2) (1.9) 0.4
Deferred tax expense (benefit) 5.6 3.1 (5.5)
Total income tax expense $ 28.5 $ 30.2 $ 17.9